#define angle_center 10000
uchar   sam_atd_g[15];     //道路檢測值
uint    car_speed=0,car_angle;
uint    pulse;
unsigned int blacknumber; 
         int valueblack[10];
         int carposition; 
uint     lost_count=0;      
#include  "sam_atd.h"
#include  "control.h"
#include  "hardware.h"